From 817683f9935a6343e954ffe7fd0eeae46e55d29c Mon Sep 17 00:00:00 2001
From: chen.llin <1442464845@qq.comm>
Date: 星期四, 01 一月 2026 15:27:42 +0800
Subject: [PATCH] AGV下单
---
src/main/java/com/zy/asrs/entity/AgvCallbackDto.java | 14 ++++
src/main/java/com/zy/asrs/task/handler/AgvHandler.java | 129 ++++++++++++++++++++++++++++++++++++-------
src/main/java/com/zy/common/constant/ApiInterfaceConstant.java | 9 ++
3 files changed, 127 insertions(+), 25 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/AgvCallbackDto.java b/src/main/java/com/zy/asrs/entity/AgvCallbackDto.java
index dfd2c49..cdcdaed 100644
--- a/src/main/java/com/zy/asrs/entity/AgvCallbackDto.java
+++ b/src/main/java/com/zy/asrs/entity/AgvCallbackDto.java
@@ -10,9 +10,14 @@
@Data
public class AgvCallbackDto {
/**
- * 杩愬崟缂栧彿
+ * 杩愬崟缂栧彿锛堝吋瀹规棫鎺ュ彛锛�
*/
private String id;
+
+ /**
+ * 浠诲姟id锛堟柊鎺ュ彛浣跨敤锛�
+ */
+ private String taskId;
/**
* 杩愬崟绫诲瀷
@@ -39,11 +44,16 @@
private String toBin;
/**
- * 鍒嗛厤AGV
+ * 鍒嗛厤AGV锛堝吋瀹规棫鎺ュ彛锛�
*/
private String robotName;
/**
+ * 鏈哄櫒浜虹粍锛堟柊鎺ュ彛浣跨敤锛�
+ */
+ private String robotGroup;
+
+ /**
* 鍦ㄥ簱鍙�
*/
private Boolean atPort;
diff --git a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
index b82a456..96d2be9 100644
--- a/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
+++ b/src/main/java/com/zy/asrs/task/handler/AgvHandler.java
@@ -3,7 +3,6 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.common.R;
import com.zy.asrs.entity.Task;
import com.zy.asrs.entity.TaskLog;
import com.zy.asrs.entity.WrkMast;
@@ -22,11 +21,8 @@
import javax.annotation.Resource;
import java.util.ArrayList;
-import java.util.Arrays;
import java.util.Collections;
import java.util.List;
-import java.util.function.Function;
-import java.util.function.Predicate;
import java.util.stream.Collectors;
/**
@@ -69,7 +65,7 @@
// 鍛煎彨agv
String response = "";
boolean success = false;
- String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CALL_CARRY_PATH;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CREATE_TASK_PATH;
String namespace = "";
switch (task.getIoType()) {
case 1:
@@ -91,9 +87,10 @@
}
String body = getRequest(task,namespace);
try {
+ // 浣跨敤浠欏伐M4鎺ュ彛
response = new HttpHandler.Builder()
.setUri(ApiInterfaceConstant.AGV_IP)
- .setPath(ApiInterfaceConstant.AGV_CALL_CARRY_PATH)
+ .setPath(ApiInterfaceConstant.AGV_CREATE_TASK_PATH)
.setJson(body)
.build()
.doPost();
@@ -128,34 +125,36 @@
}
/**
- * 鏋勯�犺姹傚唴瀹�
+ * 鏋勯�犺姹傚唴瀹癸紙浠欏伐M4鏍煎紡锛�
*/
private String getRequest(Task task, String nameSpace) {
JSONObject object = new JSONObject();
- object.put("entityName", "ContainerTransportOrder");
- JSONObject entityValue = new JSONObject();
- entityValue.put("id", task.getId());
+ // taskId浣跨敤浠诲姟ID锛屾牸寮忥細T + 浠诲姟ID
+ object.put("taskId", "T" + task.getId());
+ object.put("fromBin", task.getSourceStaNo());
+ object.put("toBin", task.getStaNo());
+ // robotGroup浠巌nvWh瀛楁鑾峰彇锛屽鏋滄病鏈夊垯浣跨敤榛樿鍊�
+ String robotGroup = task.getInvWh();
+ if (robotGroup == null || robotGroup.isEmpty()) {
+ robotGroup = "Group-001"; // 榛樿鏈哄櫒浜虹粍
+ }
+ object.put("robotGroup", robotGroup);
+ // kind鏍规嵁浠诲姟绫诲瀷鏄犲皠
String kind = "";
switch (nameSpace) {
case "鍏ュ簱":
- kind = "inBound";
+ kind = "瀹炴墭鍏ュ簱";
break;
case "鍑哄簱":
- kind = "outBound";
+ kind = "瀹炴墭鍑哄簱";
break;
case "杞Щ":
- kind = "moveBound";
+ kind = "璐х墿杞繍";
break;
default:
+ kind = "璐х墿杞繍";
}
- entityValue.put("kind", kind);
- entityValue.put("status", "Created");
- entityValue.put("priority", 0);
- entityValue.put("container", task.getBarcode());
- entityValue.put("fromBin", task.getSourceStaNo());
- entityValue.put("toBin", task.getStaNo());
- entityValue.put("emptyFlag", task.getIoType() == 10 ? 1 : 2); // 绌烘墭1锛屾弧鎵�2 agv甯︾潃鍛婅瘔杈撻�佺嚎plc
- object.put("entityValue", entityValue.toJSONString());
+ object.put("kind", kind);
return object.toJSONString();
}
@@ -225,4 +224,92 @@
basStationMapper.updateLocStsBatch( Collections.singletonList(String.valueOf(endSite)), "S");
}
}
+
+ /**
+ * 鍙栨秷AGV浠诲姟锛堜粰宸4鎺ュ彛锛�
+ * @param task 浠诲姟瀵硅薄
+ * @return 鏄惁鎴愬姛
+ */
+ public boolean cancelAgvTask(Task task) {
+ if (!agvSendTask) {
+ return false;
+ }
+
+ if (task == null || task.getId() == null) {
+ log.error("鍙栨秷AGV浠诲姟澶辫触锛氫换鍔℃垨浠诲姟ID涓虹┖");
+ return false;
+ }
+
+ String response = "";
+ boolean success = false;
+ String url = ApiInterfaceConstant.AGV_IP + ApiInterfaceConstant.AGV_CANCEL_TASK_PATH;
+ String namespace = "";
+ String kind = "";
+
+ // 鏍规嵁浠诲姟绫诲瀷纭畾kind鍜宯amespace
+ switch (task.getIoType()) {
+ case 1:
+ case 10:
+ case 53:
+ case 57:
+ namespace = "鍏ュ簱";
+ kind = "瀹炴墭鍏ュ簱";
+ break;
+ case 3:
+ namespace = "杞Щ";
+ kind = "璐х墿杞繍";
+ break;
+ case 101:
+ case 110:
+ case 103:
+ case 107:
+ namespace = "鍑哄簱";
+ kind = "瀹炴墭鍑哄簱";
+ break;
+ default:
+ kind = "璐х墿杞繍";
+ }
+
+ // 鏋勯�犲彇娑堜换鍔¤姹�
+ JSONObject cancelRequest = new JSONObject();
+ cancelRequest.put("taskId", "T" + task.getId());
+ cancelRequest.put("kind", kind);
+ String body = cancelRequest.toJSONString();
+
+ try {
+ response = new HttpHandler.Builder()
+ .setUri(ApiInterfaceConstant.AGV_IP)
+ .setPath(ApiInterfaceConstant.AGV_CANCEL_TASK_PATH)
+ .setJson(body)
+ .build()
+ .doPost();
+
+ JSONObject jsonObject = JSON.parseObject(response);
+ if (jsonObject.getInteger("code") != null && jsonObject.getInteger("code").equals(200)) {
+ success = true;
+ log.info(namespace + "鍙栨秷AGV浠诲姟鎴愬姛锛歿}", task.getId());
+ } else {
+ log.error(namespace + "鍙栨秷AGV浠诲姟澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", url, body, response);
+ }
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟寮傚父", e);
+ } finally {
+ try {
+ // 淇濆瓨鎺ュ彛鏃ュ織
+ apiLogService.save(
+ namespace + "鍙栨秷AGV浠诲姟",
+ url,
+ null,
+ "127.0.0.1",
+ body,
+ response,
+ success
+ );
+ } catch (Exception e) {
+ log.error(namespace + "鍙栨秷AGV浠诲姟淇濆瓨鎺ュ彛鏃ュ織寮傚父:", e);
+ }
+ }
+
+ return success;
+ }
}
diff --git a/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java b/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
index c5f93a0..0d955f4 100644
--- a/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
+++ b/src/main/java/com/zy/common/constant/ApiInterfaceConstant.java
@@ -36,8 +36,13 @@
public static final String AGV_IP = "http://127.0.0.1:8080/yhfzwms/open/asrs";
/**
- * 鍛煎彨AGV鎼繍
+ * 浠欏伐M4 - 鍒涘缓浠诲姟锛堣揣鐗╄浆杩愩�佸疄鎵樺叆搴擄紝瀹炴墭鍑哄簱锛�
*/
- public static final String AGV_CALL_CARRY_PATH = "/api/entity/create/one";
+ public static final String AGV_CREATE_TASK_PATH = "/api/agv/inbond";
+
+ /**
+ * 浠欏伐M4 - 鍙栨秷浠诲姟
+ */
+ public static final String AGV_CANCEL_TASK_PATH = "/api/agv/cancelTransport";
}
--
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